Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Last update: Dec 26, 2022

Related tags

Overview

path_tracking_pid

Overview

Path Tracking PID offers a tuneable PID control loop decouling steerting and forward velocity. The forward velocity is generated in an open loop fashion by using target velocities and accelerations.

One of the tracking options uses a carrot of length l in front of the robot to determine the steering action based on the lateral error between the current Global Point (GP) and the Control point (CP):

If a smooth path is provided, the controller has the option to track the path with the base_link directly instead of lagging behind a carrot. In this case a Projected Global Point (PGP) is computed as well which is tracked by the CP. In this mode, the yaw error can also be used as control input.

The PID contains two closed loops: Lateral and angular loops, and an open loop: Longitudinal. For non-holonomic robots, the lateral and angular loops can be combine to compute steering actions.

Model Predictive Control

As an optional feature, we use a Model Predictive Control (MPC) concept to regulate the forward velocity. The user can specify a maximum desired error bound to track the path. Using the model of the robot plus the controller settings, a predicted path is calculated and if the error bound is violated, the forward velocity of the robot is decreased until the predicted path lies within acceptable bounds.

Tricycle model

The tricycle model is supported as well.

It is assumed the front wheel is steered and driven. The steered wheel link (SL) can be asymmetrically placed with respect to the BL. Limitations of steering and actuation are also taken into account.

Anti collision

When used as a plugin, Path Tracking PID uses the costmap (and the robot footprint from the costmap) for anti-collision. No evasive maneuvers will be preformed (sticking to the path is key). However when obstacles are detected in close proximity to the robot or in the direct line of direction of the robot, the forward velocity will be decreased. This results in safer velocities around obstacles. If an obstacle cannot be avoided or is too close to the robot, a standstill will occur and the navigation is cancelled.

The maximum velocity of the robot will be scale linear with the costmap values around or in path of the robot. One can use the inflation layers (or even social layers) to construct these gradients in the costmap.

Keywords: tracking, pid, local_planner, trajectory, model predictive control

License

TBD

Author: Cesar Lopez, [email protected].

Maintainer: Cesar Lopez, [email protected].

Affiliation: Nobleo Projects

The path_tracking_pid package has been tested under ROS Melodic and Ubuntu 18.04.

Installation

Building from Source

Dependencies

Robot Operating System (ROS) (middleware for robotics),

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://bitbucket.org/nobleo/path_tracking_pid.git
cd ../
catkin_make

Unit Tests

Run the unit tests with catkin run_tests path_tracking_pid

Usage

The path_tracking_pid is a plugin for move_base_flex.

To run move_base_flex with path_tracking_pid plugin:

roslaunch path_tracking_pid path_tracking_pid_mbf.launch

Static parameters

base_link_frame (string, default: base_link) Name of the base link frame.
holonomic_robot (bool, default: false) True for an holonomic robot. --> Unmaintained, expect bugs
estimate_pose_angle (bool, default: false) Whether to take the pose angles from the path directly or to estimate them form consecutive path poses.
use_tricycle_model (bool, default: false) True for using tricycle model instead of differential drive.
steered_wheel_frame (string, default: steer) Name of the steered wheel frame.
use_mpc (bool, default: false) True for using MPC to regulate x velocity.

Configuring in RQT

Tracking_pid parameters are all available through (rqt_)dynamic_reconfigure. The main parameters are:

l (double, default: 0.5) Following distance from robot's rotational point to trajectory.
track_base_link (bool, default: false) Whether to track the path using the base_link instead of the control point ahead. A smooth path is needed.

Proportional, Integral and Derivative actions for the two closed loops: Lateral and angular loops.

Kp_lat (double, default: 1.0) Proportional action gain for lateral loop.
Ki_lat (double, default: 0.0) Integral action gain for lateral loop.
Kd_lat (double, default: 0.3) Derivative action gain for lateral loop.
Kp_ang (double, default: 1.0) Proportional action gain for angular loop.
Ki_ang (double, default: 0.0) Integral action gain for angular loop.
Kd_ang (double, default: 0.3) Derivative action gain for angular loop.

Each loop can be enabled/disabled separetly.

feedback_lat (boolean, default: true) Enable feedback lateral loop.
feedback_ang (boolean, default: false) Enable feedback angular loop.

Moreover, feedforward using trajectory velocity can be enabled/disabled.

feedforward_lat (boolean, default: true) Enable velocity feedforward for lateral loop.
feedforward_ang (boolean, default: false) Enable velocity feedforward for angular loop.

Target velocities and accelerations for generating the open loop forward velocity:

target_x_vel (double, default: 2.0) Nominal target forward velocity.
target_end_x_vel (double, default: 0.0) Target forward velocity at the end of the path.
target_x_acc (double, default: 2.0) Desired acceleration at the beginning of the path.
target_x_decc (double, default: 2.0) Desired decceleration at the end of the path.

Constraints on the generated velocities:

abs_minimum_x_vel (double, default: 0.025) Minimum velocity of the vehicle, used to reach the very end of the path.
max_error_x_vel (double, default: 1.0) Maximum allowed x velocity error.
max_yaw_vel (double, default: 2.0) Maximum allowed yaw velocity
max_yaw_acc (double, default: 2.0) Maximum allowed yaw acceleration
min_turning_radius (double, default: 0.0) Minimum turning radius of the vehicle.

Constraints on the steered wheel for the tricycle model:

max_steering_angle (double, default: 3.1416) Maximum steering angle for tricycle model.
max_steering_x_vel (double, default: 3.0) Maximum steering x velocity for tricycle model.
max_steering_x_acc (double, default: 2.0) Maximum steering x acceleration for tricycle model.
max_steering_yaw_vel (double, default: 0.5) Maximum steering yaw velocity for tricycle model.
max_steering_yaw_acc (double, default: 0.5) Maximum steering yaw acceleration for tricycle model.

Anti-collision parameters:

collision_look_ahead_length_offset (double, default: 1.0) Offset in length to project rectangle collision along path.
collision_look_ahead_resolution (double, default: 1.0) Spatial resolution to project rectangle collision along path.

Debug topic enable:

controller_debug_enabled (boolean, default: false) Enable debug topic.

Parameters to configure MPC behavior:

mpc_max_error_lat (double, default: 0.5) MPC maximum allowed lateral error.
mpc_min_x_vel (double, default: 0.5) MPC minimum absolute forward velocity.
mpc_simulation_sample_time (double, default: 0.05) MPC simulation sample time MPC maximum allowed iterations forward in time.
mpc_max_fwd_iterations (int, default: 200) Prediction iterations. Total simulation time will be then mpc_max_fwd_iterations*mpc_simulation_sample_time.
mpc_max_vel_optimization_iterations (int, default: 5) MPC maximum allowed velocity optimization iterations.

Launch files

launch/path_tracking_pid_mbf.launch: Runs move_base_flex with path_tracking_pid plugin
test/test_path_tracking_pid.launch: If all is well, a red square moves along a toothed path that covers a square. The square should be followed by the base_link frame.

Plugin

path_tracking_pid/TrackingPidLocalPlanner

For use in move_base_flex. See launch/path_tracking_pid_mbf.launch to see an example.

Subscribed Topics

path ([nav_msgs/Path]) The path to follow.
odom ([nav_msgs/Odometry]) Robot odometry.
/tf ([tf2_msgs/TFMessage]) The position of the robot wrt. the frame in which the map is received.
vel_max ([std_msgs/Float64]) Dynamic maximum velocity. To be used for example when maximum power demands are reached. Higher level software could also use the reconfigure interface for this and set new speed values, but when required in a feedback-loop, this streaming topic is preferred.

Published Topics

cmd_vel ([geometry_msgs/Twist]) The Twist the robot should realize to track the desired path.
feedback ([path_tracking_pid/PidFeedback]) Estimated duration remaining and progress towards final goal.
visualization_marker ([visualization_msgs/Marker]) A Marker indicating the current control goal of the towards.
collision_footprint_marker ([visualization_msgs/Marker]) A Marker indicating the footprint(s) along the path that are used for ahead collision detection.
debug ([path_tracking_pid/PidDebug]) Intermediate values of the PID controller. Topic is silent by default, can be enabled via dynamic_reconfigure.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.

Comments

Ensure all members are initialized.

Ensure all members are initialized.

Since the members were previously uninitialized and the software seemed to work fine, the actual value of the initialized variables apparently is not important. So i just went with 0.

clang-tidy can check this. I will add a clang-tidy file once its warning have been fixed.

opened by lewie-donckers 8
Controller is too conservative in its collision checking

The controller checks if there is any cell within the collision polygon that is of value costmap2d::INSCRIBED_INFLATED_OBASTACLE. If there is, it concludes that a collision is imminent. This is not true. the robot footprint is perfectly allowed to enter space of costmap2d::INSCRIBED_INFLATED_OBASTACLE value. Here's an example where there is overlap, but no collision:

The cheap way to check for imminent collisions, assuming a (approximately) circular base is to check if the cell in which (a predicted) base_link is located is >= costmap2d::INSCRIBED_INFLATED_OBASTACLE. That would mean a guaranteed collision.

However, with a non-circular base, this is not enough. Because a different orientation may also lead to collision before base_link reaches this space. Instead, you can check if any of the cells in the collision polygon exceeds this value. That means it reaches a value of >= costmap2d::LETHAL_OBSTACLE.
bug

opened by rokusottervanger 8
Preliminary boost units implementation.

Preliminary boost units implementation. No proper review required yet. This is just to show what it could look like.

It contains the same changes to the interfaces and calculations as #70 but this time using the Boost units library.

This is currently quite verbose but by adding a few typedefs we could reduce that.

opened by lewie-donckers 7
Controller reconfigures itself on cancel

When cancelling the exe_path action, the controller changes the configuration set by the user: it sets target_x_vel to zero, and it never changes it back. As a result, the next goal sent on the exe_path action interface is not executed well, because the target_x_vel remains zero.
duplicate

opened by rokusottervanger 7
Explicitly disabled copy/move.

Explicitly disabled copy/move for Controller and TrackingPidLocalPlanner.

This to avoid accidental copies which could be incorrect/expensive/both.

And to avoid accidental moves which could cause bound callbacks to break.

opened by lewie-donckers 7
Added filtered error tracker abstraction.

I noticed there was a lot of code duplication to keep track of error history in ControllerState. I have 3 PRs lined up to address this. This one is the second.

Added a filtered error tracker abstraction. The errors in ControllerState are always tracked in pairs. The "raw" errors and the filtered errors. The filtered errors are always calculated in the same way and only need the raw errors and previous filtered errors as input. This abstracts that principle to reduce code duplication and noise in the Controller.

opened by lewie-donckers 6
Documentation of `Controller::distToSegmentSquared()` incorrect
While working on unit tests for Controller::distToSegmentSquared() I noticed the following.

The documentation suggests that the pose it returns is the point on the segment PV (start, end) that is closest to W (point). It does not do this.

I had the following test case:

TEST(PathTrackingPidCalculations, ClosestPointOnSegment_CloseToStart) { const auto start = create_transform(2, 2, 0); const auto end = create_transform(4, 4, 0); const auto point = create_transform(0, 1, 0); const auto ref = start; EXPECT_EQ(ref, closestPointOnSegment(start, end, point, false)); }

point is closest to start of any point on start-end but the following is returned: [1.759, 2.319, 0].
bug
opened by lewie-donckers 5
Added derivative filtered error tracker abstraction.

I noticed there was a lot of code duplication to keep track of error history in ControllerState. I have 3 PRs lined up to address this. This one is the third.

Added a derivative filtered error tracker abstraction. The remaining errors in ControllerState are also always tracked in pairs. The raw errors/filtered errors and their derivatives. The derivatives are always calculated in the same way. This abstracts that principle to reduce code duplication and noise in the Controller.

opened by lewie-donckers 5
Cleaned up includes.
Cleaned up includes according to the following guidelines:

use <> for files found through include dirs and "" for files found relative to the current file see https://isocpp.github.io/CppCoreGuidelines/CppCoreGuidelines#sf12-prefer-the-quoted-form-of-include-for-files-relative-to-the-including-file-and-the-angle-bracket-form-everywhere-else

regarding the order:

first include the corresponding header file (this one is for source files only)

then local files (using "")

then files from the same lib

then files from 3rd party libs (boost/ros/etc)

then standard includes

then OS includes
opened by lewie-donckers 5
Step response of the lowpass filter has an overshoot
I put a step response on the second order lowpass and the output I've printed below. As you can see the filter has an overshoot, which is very strange. I think there is something wrong with it.

0.292893 0.87868 1.12132 1.02082 0.979185 0.996429 1.00357 1.00061 0.999387 0.999895 1.00011 1.00002 0.999982 0.999997 1 1 0.999999 1 1 1
opened by Rayman 4
Quaternion of carrotTF was not initialized, set to proper value

As initiated here: https://github.com/nobleo/path_tracking_pid/commit/f603fecff527321a9ee0165845981bd4fc578ad6#commitcomment-66762408 Building with proper flags threw a new error, this fixes it.

A tf2::Transform without arguments is not initialized, when calling setOrigin() the rotation part is still not initialized.

opened by MCFurry 4

how to use full_coverage_path_planner and path_tracking_pid?

Thank for sharing u code. When I use full_coverage_path_planner and path_tracking_pid, I can not make it run. please help me. thanks.

this is the launch:

<!--Move base flex, using the full_coverage_path_planner-->
<node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="false" name="move_base_flex" output="screen" required="true">
    <param name="tf_timeout" value="1.5"/>
    <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/planners.yaml" command="load" />
    <rosparam file="$(find full_coverage_path_planner)/test/full_coverage_path_planner/param/local_costmap_params.yaml" command="load" />
    <rosparam file="$(find path_tracking_pid)/param/controllers.yaml" command="load" />
    <rosparam file="$(find path_tracking_pid)/param/path_tracking_pid.yaml" command="load" />
    <param name="SpiralSTC/robot_radius" value="$(arg robot_radius)"/>
    <param name="SpiralSTC/tool_radius" value="$(arg tool_radius)"/>
    <param name="global_costmap/robot_radius" value="$(arg robot_radius)"/>
    <remap from="odom" to="/odom"/>
    <remap from="scan" to="/scan"/>

    <remap from="/move_base_flex/SpiralSTC/plan" to="/move_base/SpiralSTC/plan"/>
    <!-- <remap from="/move_base_flex/PathTrackingPID/interpolator" to="/move_base/TrackingPidLocalPlanner/interpolator"/> -->
</node>

<!-- Move Base backwards compatibility -->
<node pkg="mbf_costmap_nav" type="move_base_legacy_relay.py" name="move_base" >
    <param name="base_global_planner" value="SpiralSTC" />
    <param name="base_local_planner" value="PathTrackingPID" />
</node>

<!-- Mobile robot simulator -->
<node pkg="mobile_robot_simulator" type="mobile_robot_simulator_node" name="mobile_robot_simulator" output="screen">
    <param name="publish_map_transform" value="true"/>
    <param name="publish_rate" value="10.0"/>
    <param name="velocity_topic" value="/move_base/cmd_vel"/>
    <param name="odometry_topic" value="/odom"/>
</node>

<!--We need a map to fully cover-->
<node name="grid_server" pkg="map_server" type="map_server" args="$(arg map)">
    <param name="frame_id" value="map"/>
</node>

<!-- Launch coverage progress tracking -->
<node pkg="tf" type="static_transform_publisher" name="map_to_coveragemap" args="$(arg coverage_area_offset) map coverage_map 100" />
<node pkg="full_coverage_path_planner" type="coverage_progress" name="coverage_progress">
    <param name="~target_area/x" value="$(arg coverage_area_size_x)" />
    <param name="~target_area/y" value="$(arg coverage_area_size_y)" />
    <param name="~coverage_radius" value="$(arg tool_radius)" />
    <remap from="reset" to="coverage_progress/reset" />
    <param name="~map_frame" value="/coverage_map"/>
</node>

<!-- Trigger planner by publishing a move_base goal -->
<node name="publish_simple_goal" pkg="rostopic" type="rostopic"  launch-prefix="bash -c 'sleep 1.0; $0 $@' "
    args="pub --latch /move_base/goal move_base_msgs/MoveBaseActionGoal --file=$(find full_coverage_path_planner)/test/simple_goal.yaml"/>

<!-- rviz -->
<node if="$(eval rviz)" name="rviz" pkg="rviz" type="rviz" args="-d $(find full_coverage_path_planner)/test/full_coverage_path_planner/fcpp.rviz" />

opened by Tang-Kalman 3

about how use this package

Hi thanks for your work. can you please give a example about how to use this package with global planner, I cannot understand how to subscribe topic "path". I readed the code , it do not subscribe any topic namde "path" or any topic with type of nav_msgs/Path.

thank you very much

opened by pjs9115916 1
Straight line into turn: starting turn too early
After a discussion with @cesar-lopez-mar:

In the figure below,

a straight path is followed by a corner

the robot starts executing the straight path, as indicated by the red arrows

the debugging markers of the path_tracking_pid are indicated as well

halfway, the robot starts rotating. Based on the debug markers, it seems that starts executing the corners.
opened by whoutman 0
Global plan is statically transformed to the global frame

In TrackingPidLocalPlanner::setPlan() the passed global plan is transformed just once into the configured global_frame. If this latter is configured to be odom, the global plan is sensitive to initial localisation faults.

Other planners (such as dwa_local_planner) convert the inserted global plan every tick into global_frame, using LocalPlannerUtil::getLocalPlan().
bug

opened by PaulVerhoeckx 0
Is the calculated stopping distance too conservative?
The stopping distance in the end phase d_end_phase (here) contains a component which accounts for the distance traveled during the possible delay due to having a sampling time.

However I wonder if it isn't too conservative, currently it is:

target_x_vel * 2 * dt

Whereas I think the average delay is 0.5*dt, which would result in the following component:

target_x_vel * 0.5 * dt
question
opened by PaulVerhoeckx 5

Owner

Nobleo Technology

autonomous | intelligent | systems

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Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Related tags

Overview

path_tracking_pid

Overview

Model Predictive Control

Tricycle model

Anti collision

License

Installation

Building from Source

Dependencies

Building

Unit Tests

Usage

Static parameters

Configuring in RQT

Launch files

Plugin

path_tracking_pid/TrackingPidLocalPlanner

Subscribed Topics

Published Topics

Bugs & Feature Requests

Comments

Owner

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